CN114454661B - Deformation wheel and wheel-track-leg combined robot of robot - Google Patents
Deformation wheel and wheel-track-leg combined robot of robot Download PDFInfo
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- CN114454661B CN114454661B CN202210207238.6A CN202210207238A CN114454661B CN 114454661 B CN114454661 B CN 114454661B CN 202210207238 A CN202210207238 A CN 202210207238A CN 114454661 B CN114454661 B CN 114454661B
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- 230000001360 synchronised effect Effects 0.000 claims description 34
- 239000002131 composite material Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 5
- 238000003491 array Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The invention discloses a deformation wheel and wheel-track leg combined robot of a robot, wherein the deformation wheel comprises a track, a deformation ring and a deformation driving mechanism, the track is wound outside the deformation ring, the deformation ring comprises a plurality of arc plates which are hinged end to end in sequence, a first connecting position is formed at the hinged position of two adjacent arc plates, a second connecting position is formed at the hinged position of the other two adjacent arc plates, the first connecting position and the second connecting position are oppositely arranged, the deformation driving mechanism comprises a telescopic frame and a deformation driving assembly, two ends of the telescopic frame are respectively connected with the first connecting position and the second connecting position, and the deformation driving assembly is arranged in the telescopic frame and is used for driving the telescopic frame to stretch or shrink the distance between the first connecting position and the second connecting position, and correspondingly enabling the deformation ring to form a runway structure or a whole circle structure; the deformation ring has the advantages of strong adaptability and rapid deformation, so that the deformation wheel can move at a high speed during wheeled movement and adapt to complex terrains during caterpillar movement, and the structure is stable and reliable.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a deformation wheel and wheel-track-leg combined robot of a robot.
Background
The wheel-track composite robot is a composite robot with two motion states of wheels and tracks, wherein the robot can reach higher ground moving speed during wheel type motion, can adapt to various complex pavements such as sloping fields, mud fields and the like during track type motion, and is widely applied because the wheel-track composite robot can adapt to various terrains. In the existing wheel-track combined robot, the length of the track can be changed along with the switching between the wheel-type motion state and the track-type motion state, the elastic track is adopted in a common solution, however, along with the repeated switching of the two motion states, the track can loose after the service time is long, so that the track is very easy to fall off from the hub due to centrifugal force when in wheel-type motion, namely, the existing robot has poor adaptability and low structural stability with the track when switching between the wheel-type motion states.
Disclosure of Invention
The invention mainly aims to provide a deformation wheel and wheel-track-leg combined robot of a robot, and aims to solve the problems of poor adaptability to a track and low structural stability when the existing robot is switched between wheel-track states.
To achieve the above object, the present invention proposes a deformation wheel of a robot, the deformation wheel comprising:
a track;
the track is wound outside the deformation ring, the deformation ring comprises a plurality of arc plates which are sequentially hinged end to end, a first connecting position is formed at the hinged position of two adjacent arc plates, a second connecting position is formed at the hinged position of the other two adjacent arc plates, and the first connecting position and the second connecting position are oppositely arranged;
the deformation driving mechanism comprises a telescopic frame and a deformation driving assembly, wherein two ends of the telescopic frame are respectively connected with the first connecting position and the second connecting position, the deformation driving assembly is arranged in the telescopic frame and is used for driving the telescopic frame to stretch or shrink the distance between the first connecting position and the second connecting position, and correspondingly enabling the deformation ring to form a runway structure or a full circle structure.
Optionally, the expansion bracket includes the mounting panel and telescopically sets up expansion plate on the mounting panel, the expansion plate keep away from the one end of mounting panel connect in first hookup location, the mounting panel keep away from the one end of expansion plate connect in second hookup location, deformation drive assembly is used for the drive the expansion plate is relative the mounting panel stretches out and draws or contracts with the distance between first hookup location with the second hookup location, and correspond to make the deformation circle encloses into runway type structure or full circle structure.
Optionally, the deformation drive assembly includes first driving piece, lead screw and cover are located the lead screw nut piece outside the lead screw, first driving piece with the mounting panel is connected, the lead screw nut piece with the expansion plate is connected, the lead screw with the extending direction of expansion plate is unanimous, first driving piece drive the lead screw rotates, so that pass through the lead screw nut piece drives the expansion plate is followed the lead screw is relative the mounting panel is flexible.
Optionally, one side of mounting panel deviating from first driving piece is provided with the slide rail, the slide rail with the extending direction of lead screw is unanimous, the expansion plate deviates from one side of lead screw nut piece is provided with the slider, the slider with slide rail sliding contact cooperation.
Optionally, the deformation circle includes two annular plates of interval arrangement, two connect through a plurality of connecting rods between the annular plate, a plurality of the connecting rod is followed the circumference interval arrangement of annular plate, the track is around locating a plurality of the periphery of connecting rod.
Optionally, the deformation wheel further comprises a driving wheel and a track driving assembly, the driving wheel is arranged at a position, close to the deformation ring, in the telescopic frame, the track is wound outside the driving wheel and matched with the driving wheel, and the track driving assembly is used for driving the driving wheel to rotate so that the driving wheel drives the track to rotate relative to the deformation ring.
Optionally, the track type driving assembly comprises a second driving piece, a synchronous belt and two synchronous wheels, wherein the second driving piece is connected with the telescopic frame, the synchronous belt is wound between the two synchronous wheels, one synchronous wheel is coaxially arranged with the driving wheel, and the second driving piece is used for driving the other synchronous wheel to rotate.
Optionally, the deformation wheel still includes leg frame and wheeled drive assembly, the leg frame with the expansion bracket is articulated, wheeled drive assembly includes third driving piece and rotates the seat, rotate the seat with the expansion bracket is connected, third driving piece with the leg frame deviates from one side of expansion bracket is connected, third driving piece is used for the drive rotate the seat and rotate.
Optionally, the deformation wheel further includes a leg driving assembly, the leg driving assembly includes a fourth driving member and a mounting box, one end of the leg frame away from the telescopic frame is hinged to the mounting box, the fourth driving member is mounted in the mounting box, and the fourth driving member is used for driving the leg frame to rotate relative to the mounting box.
The invention further provides a wheel-track-leg combined robot which comprises a mounting frame and a plurality of deformation wheels of the robot, wherein the deformation wheels are arranged in an array and are connected with the mounting frame.
In the deformation wheel of the robot, the expansion frame is arranged in the deformation ring in a telescopic way, and the expansion frame is driven to stretch through the deformation driving component arranged in the expansion frame, so that the expansion frame is deformed into a runway structure suitable for track type movement or a full-circle structure suitable for wheel type movement by adjusting the distance between the first connecting position and the second connecting position; the perimeter of the deformation ring is always kept unchanged when the deformation ring is in a track type structure or a full circle structure, the length of the crawler belt is not required to be changed when the crawler belt is switched between the track type motion state and the wheel type motion state, the adaptability between the deformation ring and the crawler belt is good, the deformation ring has the advantages of being rapid and convenient to deform, the deformation wheel can achieve higher ground moving speed when in wheel type motion, and can adapt to various complex terrains when in track type motion, and the crawler belt is stable and reliable in structure and high in universality.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an assembly structure of a deforming ring of a deforming wheel according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an assembly structure of a deformed ring of a deformed wheel according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing an exploded structure of a deformation ring and a deformation driving mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating an assembly structure of a deforming ring, a driving wheel and a track driving assembly according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an exploded view of a deforming race, a driving wheel, and a track drive assembly according to an embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view of a track drive assembly according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating an assembly structure of a deformation ring, a leg frame, a wheel type driving assembly and a leg type driving assembly according to an embodiment of the present invention;
FIG. 8 is a schematic view of an exploded view of a deformation collar, leg rest and wheel drive assembly according to one embodiment of the present invention;
fig. 9 is a schematic diagram illustrating an assembly structure of a deformation wheel and a mounting frame according to an embodiment of the present invention.
Reference numerals illustrate:
| reference numerals | Name of the name | Reference numerals | Name of the name |
| 100 | Deformation wheel | 40 | Driving wheel |
| 10 | Caterpillar band | 50 | Track type driving assembly |
| 20 | Deformation ring | 51 | Second driving member |
| 21 | Arc-shaped plate | 52 | Synchronous belt |
| 211 | First connection position | 53 | First synchronous wheel |
| 212 | Second connection position | 531 | Mounting hole |
| 22 | Annular plate | 54 | Second synchronizing wheel |
| 221 | Auxiliary wheel | 55 | Slip ring |
| 23 | Connecting rod | 551 | Wiring interval |
| 231 | Guide wheel | 56 | Support ring |
| 30 | Deformation driving mechanism | 57 | Bearing |
| 31 | Expansion bracket | 60 | Leg rack |
| 311 | Mounting plate | 61 | Leg plate |
| 312 | Expansion board | 70 | Wheel type driving assembly |
| 32 | Deformation driving assembly | 71 | Third driving member |
| 321 | First driving member | 72 | Rotary seat |
| 322 | Screw rod | 721 | Rotating plate |
| 323 | Screw nut block | 722 | Rotary sleeve |
| 324 | Adapter piece | 80 | Leg drive assembly |
| 325 | Tensioning wheel | 81 | Fourth driving piece |
| 33 | Sliding block | 82 | Mounting box |
| 34 | Sliding rail | 200 | Mounting rack |
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The technical solutions of the present embodiment will be clearly and completely described below with reference to the drawings in the present embodiment, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all the directional indications (such as up, down, left, right, front, and rear … …) in this embodiment are merely for explaining the relative positional relationship, movement conditions, and the like between the components in a certain specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The description of the orientations of "up", "down", "front", "rear", "left", "right", etc. in the present invention is based on the orientations shown in fig. 2, and is merely for explaining the relative positional relationship between the components in the orientations shown in fig. 2, and if the specific orientation is changed, the directional indication is changed accordingly.
The invention provides a deformation wheel of a robot.
The deformation wheel 100 of the robot of the embodiment, the deformation wheel 100 includes a track 10, a deformation ring 20 and a deformation driving mechanism 30, the track 10 is wound around the deformation ring 20, the deformation ring 20 includes a plurality of arc plates 21 hinged end to end in sequence, a first connection position 211 is formed at the hinge position of two adjacent arc plates 21, a second connection position 212 is formed at the hinge position of two other adjacent arc plates 21, the first connection position 211 and the second connection position 212 are oppositely arranged, the deformation driving mechanism 30 includes a telescopic frame 31 and a deformation driving assembly 32, two ends of the telescopic frame 31 are respectively connected with the first connection position 211 and the second connection position 212, the deformation driving assembly 32 is arranged in the telescopic frame 31, and the deformation driving assembly 32 is used for driving the telescopic frame 31 to stretch or shrink the distance between the first connection position 211 and the second connection position 212, and correspondingly enables the deformation ring 20 to enclose a runway structure or a whole circle structure.
As shown in fig. 1 and 2, the deformation ring 20 is externally wound with a crawler belt 10 with an annular structure, the deformation ring 20 comprises a plurality of arc plates 21, the arc plates 21 are sequentially hinged end to end, the deformation ring 20 is provided with a first connecting position 211 and a second connecting position 212 which are oppositely arranged, a telescopic frame 31 is connected between the first connecting position 211 and the second connecting position 212, and a deformation driving assembly 32 is arranged in the telescopic frame 31; when the deformation driving assembly 32 drives the expansion bracket 31 to extend, the expansion bracket 31 stretches the deformation ring 20, so that the distance between the first connection position 211 and the second connection position 212 is increased, the deformation ring 20 is surrounded into a track type structure, the crawler belt 10 is surrounded outside the track type deformation ring 20 and can rotate relative to the deformation ring 20, and further crawler type movement of the deformation wheel 100 is realized, as shown in fig. 2, the crawler belt 10 is omitted in fig. 2; when the deformation driving assembly 32 drives the expansion bracket 31 to shorten, the expansion bracket 31 drives the deformation ring 20 to shrink, so that the distance between the first connection position 211 and the second connection position 212 is reduced, the deformation ring 20 encloses a full circle structure, the crawler belt 10 encloses the full circle deformation ring 20 and rotates synchronously with the deformation ring 20, and further the wheel-type movement of the deformation wheel 100 is realized, as shown in fig. 1.
The deformation wheel 100 of the present embodiment is configured to enable the expansion bracket 31 to be deformed into a track-type structure suitable for track-type movement or into a full-circle structure suitable for wheel-type movement by telescopically installing the expansion bracket 31 in the deformation ring 20 and driving the expansion bracket 31 to expand and contract by a deformation driving assembly 32 installed in the expansion bracket 31, so that the expansion bracket 31 can be deformed into a track-type structure suitable for track-type movement by adjusting the distance between the first connection position 211 and the second connection position 212; the perimeter of the deformation ring 20 is kept unchanged all the time when the deformation ring is in a runway-type structure or a full-circle structure, so that the length of the crawler belt 10 is not required to be changed when the crawler belt is switched between the crawler belt moving state and the wheel-type moving state, the adaptability between the deformation ring 20 and the crawler belt 10 is good, the deformation ring 20 has the advantages of being rapid and convenient in deformation, the deformation wheel 100 of the embodiment can achieve higher moving speed during wheel-type movement, and can adapt to various complex terrains during crawler belt-type movement, and the structure is stable and reliable and high in universality.
In this embodiment, the expansion bracket 31 includes a mounting plate 311 and an expansion plate 312 that is telescopically disposed on the mounting plate 311, one end of the expansion plate 312 away from the mounting plate 311 is connected to the first connection position 211, one end of the mounting plate 311 away from the expansion plate 312 is connected to the second connection position 212, and the deformation driving assembly 32 is used for driving the expansion plate 312 to expand or contract relative to the mounting plate 311 to stretch or contract the distance between the first connection position 211 and the second connection position 212, and correspondingly the deformation ring 20 encloses a track structure or a full circle structure.
As shown in fig. 1 to 3, the expansion bracket 31 includes a mounting plate 311 and an expansion plate 312, the expansion plate 312 extends from the first connection position 211 to the direction of the mounting plate 311, the mounting plate 311 is mounted on the second connection position 212, the deformation driving assembly 32 is used for driving the expansion plate 312 to expand and contract relative to the mounting plate 311, so as to realize that the expansion plate 312 is arranged on the mounting plate 311 in an expandable manner, the distance between the first connection position 211 and the second connection position 212 is prolonged when the expansion plate 312 stretches out relative to the mounting plate 311, the deformation ring 20 is deformed into a track-type structure, the distance between the first connection position 211 and the second connection position 212 is shortened when the expansion plate 312 stretches back relative to the mounting plate 311, the deformation ring 20 is deformed into a full-circle structure, the deformation ring 20 can be matched with the inner circumference of the track 10 well, the deformation ring 20 can realize deformation in the walking process, the deformation is fast and convenient, and the structure flexibility is good.
As shown in fig. 1 to 3, the deformation driving assembly 32 includes a first driving member 321, a screw rod 322 and a screw rod nut block 323 sleeved outside the screw rod 322, the first driving member 321 is connected with the mounting plate 311, the screw rod nut block 323 is connected with the expansion plate 312, the screw rod 322 is consistent with the extending direction of the expansion plate 312, and the first driving member 321 drives the screw rod 322 to rotate so as to drive the expansion plate 312 to stretch along the screw rod 322 relative to the mounting plate 311 through the screw rod nut block 323.
In an embodiment, the number of the mounting plates 311 is two, the two mounting plates 311 are arranged at intervals, the number of the expansion plates 312 is consistent with the number of the mounting plates 311 and is in one-to-one correspondence, the two mounting plates 311 and the two expansion plates 312 enclose into an expansion bracket 31, a first driving piece 321 is connected between the two mounting plates 311, a screw nut block 323 is connected between the two expansion plates 312 and sleeved outside the screw 322, the first driving piece 321 is used for driving the screw 322 to rotate, so that the screw nut block 323 slides back and forth along the screw 322, the expansion plates 312 are driven to stretch relative to the mounting plates 311 through the screw nut block 323, and then the deformation ring 20 can be switched between a runway structure and a full circle structure, so that the deformation ring 20 is flexible and reliable. In addition, the first driving member 321 may adopt a motor in the prior art, and an output shaft of the motor is connected with the screw 322 to drive the screw 322 to rotate.
Further, a sliding rail 34 is disposed on a side of the mounting plate 311 away from the first driving member 321, the sliding rail 34 is consistent with the extending direction of the screw rod 322, a sliding block 33 is disposed on a side of the expansion plate 312 away from the screw rod nut block 323, and the sliding block 33 is in sliding contact fit with the sliding rail 34. As shown in fig. 1 to 3, the extending direction of the sliding rail 34 and the extending direction of the screw rod 322 are consistent and connected to the mounting plate 311, the sliding block 33 in sliding contact with the sliding rail 34 is arranged on the expansion plate 312, and when the screw rod nut block 323 drives the expansion plate 312 to stretch relative to the mounting plate 311, the sliding block 33 slides reciprocally on the sliding rail 34 along the extending direction of the sliding rail 34, the sliding rail 34 and the sliding block 33 play a role in guiding and sliding, so that the stability of deformation is further improved.
In this embodiment, the deformation ring 20 includes two annular plates 22 arranged at intervals, the two annular plates 22 are connected by a plurality of connecting rods 23, the plurality of connecting rods 23 are arranged at intervals along the circumferential direction of the annular plates 22, and the crawler belt 10 is wound around the outer circumferences of the plurality of connecting rods 23. As shown in fig. 1 to 3, two annular plates 22 with annular structures are connected through a plurality of connecting rods 23, a track 10 with annular structures is wound on the peripheries of the plurality of connecting rods 23, each annular plate 22 comprises a plurality of arc plates 21 hinged end to end in sequence, a first connecting position 211 is formed at the hinged position of two adjacent arc plates 21, a second connecting position 212 is formed at the hinged position of the other two adjacent arc plates 21, the first connecting position 211 and the second connecting position 212 are oppositely arranged, namely when the deformation ring 20 is in a full-circle structure, the first connecting position 211 and the second connecting position 212 are respectively positioned at two ends of the diameter direction of the deformation ring 20, each annular plate 22 is correspondingly connected with one mounting plate 311 and one telescopic plate 312, so that the two mounting plates 311 and the two telescopic plates are surrounded into a telescopic frame 31, and the installation of the deformation driving assembly 32 is facilitated, and the structural design is reasonable.
In an embodiment, each annular plate 22 includes four arc plates 21, that is, each annular plate 22 is surrounded by four arc plates 21 hinged end to end in sequence, wherein the hinge positions of two adjacent arc plates 21 form a first connection position 211, and the hinge positions of the other two adjacent arc plates 21 form a second connection position 212; in other embodiments, the annular plate 22 may be formed by hinging six, eight or other numbers of arc plates 21 in turn, the number of arc plates 21 may be flexibly set according to actual use requirements, and the number of arc plates 21 is not limited by the deformation wheel 100 of the present invention.
In this embodiment, the deformation wheel 100 further includes a driving wheel 40 and a track driving assembly 50, the driving wheel 40 is disposed in the expansion bracket 31 at a position close to the deformation ring 20, the track 10 is wound around the driving wheel 40 and cooperates with the driving wheel 40, and the track driving assembly 50 is used for driving the driving wheel 40 to rotate, so that the driving wheel 40 drives the track 10 to rotate relative to the deformation ring 20. As shown in fig. 4 and 5, the driving wheel 40 is disposed between the two expansion plates 312, and the driving wheel 40 is engaged with the inner circumference of the track 10, that is, the track 10 is wound around the driving wheel 40, the track driving assembly 50 is mounted on the expansion frame 31, and the track driving assembly 50 is used for driving the driving wheel 40 to rotate, so that the driving wheel 40 drives the track 10 engaged with the track driving wheel to rotate relative to the deformation ring 20. As can be appreciated, when the deforming race 20 is deformed into a racetrack configuration, the track drive assembly 50 drives the track 10 through the drive wheel 40 to rotate to effect track movement of the deforming wheel 100, thereby enabling the deforming wheel 100 to accommodate movement of a variety of complex terrain.
Specifically, the track driving assembly 50 includes a second driving member 51, a synchronous belt 52, and two synchronous wheels, the second driving member 51 is connected with the expansion bracket 31, the synchronous belt 52 is wound between the two synchronous wheels, one synchronous wheel is coaxially disposed with the driving wheel 40, and the second driving member 51 is used for driving the other synchronous wheel to rotate. In an embodiment, as shown in fig. 4 to 6, the two synchronous wheels are a first synchronous wheel 53 and a second synchronous wheel 54 respectively, the synchronous belt 52 is wound between the first synchronous wheel 53 and the second synchronous wheel 54, the second driving member 51 is connected with one of the expansion plates 312, the second driving member 51 is used for driving the first synchronous wheel 53 to rotate, and the second synchronous wheel 54 is coaxially arranged with the driving wheel 40. When the deformation ring 20 is deformed into a track type structure, the second driving member 51 drives the first synchronizing wheel 53 to rotate, the first synchronizing wheel 53 drives the second synchronizing wheel 54 to rotate through the synchronous belt 52, and the second synchronizing wheel 54 drives the driving wheel 40 coaxially arranged with the second synchronizing wheel 54 to rotate, so that the driving wheel 40 drives the track 10 to rotate relative to the deformation ring 20, and track type movement of the deformation wheel 100 is realized.
Further, the track driving assembly 50 further includes a slip ring 55, the slip ring 55 is connected with the expansion bracket 31 and sleeved outside the rotating shaft of the first synchronous wheel 53, and a wiring gap 551 is formed between the slip ring 55 and the rotating shaft of the first synchronous wheel 53. The track drive assembly 50 further comprises a support ring 56 and a bearing 57, one side of the support ring 56 is connected with the second drive member 51, the other side of the support ring 56 is connected with the expansion bracket 31, and the bearing 57 is installed in the support ring 56 and sleeved outside the slip ring 55. As shown in fig. 4 to 6, a through hole through which the rotating shaft of the first synchronizing wheel 53 passes is formed in the expansion plate 312 on one side, the support ring 56 is mounted on the side of the expansion plate 312 away from the screw nut block 323, the second driving member 51 is connected to the side of the support ring 56 away from the expansion plate 312, the bearing 57 is mounted in the support ring 56, the slip ring 55 is sleeved outside the rotating shaft of the first synchronizing wheel 53 and mounted in the bearing 57, that is, the outer ring of the bearing 57 is abutted against the support ring 56, and the inner ring of the bearing 57 is abutted against the slip ring 55. In addition, the second driving member 51 may be a motor in the prior art, the rotating shaft of the first synchronous wheel 53 is provided with a mounting hole 531, and an output shaft of the motor is inserted into the mounting hole 531, that is, the output shaft of the motor extends into the mounting hole 531 and is connected with the wall of the mounting hole 531.
Specifically, when the deformation wheel 100 performs track movement, the output shaft of the second driving member 51 is inserted into the mounting hole 531 formed at the end of the rotating shaft of the first synchronizing wheel 53, the second driving member 51 drives the first synchronizing wheel 53 to rotate through the rotating shaft, the first synchronizing wheel 53 drives the track 10 to rotate through the synchronous belt 52, the second synchronizing wheel 54 and the driving wheel 40, the supporting ring 56 plays a role of supporting the bearing 57 and the sliding ring 55, so that the bearing 57 and the sliding ring 55 are stationary relative to the expansion plate 312 during track movement, the effect of avoiding interference is achieved, and a wiring space 551 for the connecting wire to pass through is formed between the sliding ring 55 and the rotating shaft of the first synchronizing wheel 53, so that the connecting wire can conveniently extend into the expansion bracket 31 to be connected with the first driving member 321, the starting and stopping of the first driving member 321 can be conveniently controlled, and the structural design is reasonable.
In a preferred embodiment, as shown in fig. 3, 4 and 7, a plurality of guide wheels 231 are sleeved outside each connecting rod 23, each guide wheel 231 is matched with the inner circumference of the track 10, that is, each guide wheel 231 is meshed with the inner circumference of the track 10, and the guide wheels 231 are used for guiding the track 10 when the track 10 rotates relative to the deformation ring 20, so that the track 10 rotates smoothly, and stability of track movement is improved; each arc plate 21 is connected with a plurality of auxiliary wheels 221 which are arranged at intervals along the extending direction of the arc plate 21, and the auxiliary wheels 221 are used for being abutted against the inner sides of the tracks 10 so as to further play a role in guiding the tracks 10 and facilitate the rotation of the tracks 10; in addition, the number of the driving wheels 40 is multiple, the driving wheels 40 are sleeved outside the rotating shaft of the second synchronizing wheel 54 in parallel, and the driving wheels 40 play a role in driving the crawler belt 10 to rotate, so that the structural strength is further enhanced. In addition, the upper and lower sides of the first driving piece 321 are both provided with the adaptor 324, and one end of each adaptor 324 far away from the first driving piece 321 is provided with the tensioning wheel 325, and the tensioning wheel 325 is used for abutting against the inner circumference of the track 10 when the deformation ring 20 is deformed into a track type structure so as to play a role in tensioning the track 10.
In this embodiment, the deformation wheel 100 further includes a leg frame 60 and a wheel driving assembly 70, the leg frame 60 is hinged to the telescopic frame 31, the wheel driving assembly 70 includes a third driving member 71 and a rotating seat 72, the rotating seat 72 is connected to the telescopic frame 31, the third driving member 71 is connected to a side of the leg frame 60 facing away from the telescopic frame 31, and the third driving member 71 is used for driving the rotating seat 72 to rotate. As shown in fig. 1, 7 and 8, the leg frame 60 includes two leg plates 61 disposed at intervals, the two leg plates 61 are disposed at both sides of the deformation ring 20, respectively, and each leg plate 61 is hinged with a telescopic plate 312 disposed corresponding thereto, respectively. The rotating base 72 includes a rotating plate 721 and a rotating sleeve 722 connected to the rotating plate 721, the rotating plate 721 is connected to one of the expansion plates 312 far from the supporting ring 56, the rotating plate 721 is located between the two expansion plates 312, the rotating sleeve 722 passes through the expansion plate 312 and the leg plate 61 correspondingly arranged therewith, and the third driving member 71 is connected to a side of the leg plate 61 facing away from the expansion plate 312. Moreover, the third driving member 71 may adopt a motor in the prior art, and an output shaft of the motor is inserted into the rotating sleeve 722, when the deforming ring 20 is deformed into a full-circle structure, the motor drives the rotating plate 721 to rotate through the rotating sleeve 722, so that the rotating plate 721 drives the deforming ring 20 and the crawler belt 10 around the deforming ring 20 to synchronously rotate through the expansion bracket 31, and further wheel-type movement of the deforming wheel 100 is realized, so that the deforming wheel 100 can move at a high speed.
As can be appreciated, when the deformation wheel 100 performs the wheel-type movement, the deformation ring 20 drives the support ring 56 and the outer ring of the bearing 57 to rotate through the expansion plate 312, the inner ring of the bearing 57, the sliding ring 55 and the rotating shaft of the first synchronous wheel 53 are stationary relative to the expansion plate 312, the sliding ring 55 and the bearing 57 play a role in avoiding interference, the wiring space 551 plays a role in avoiding the connecting wire, the track-type movement and the wheel-type movement do not interfere with each other, the structural design is ingenious, and the universality of the deformation wheel 100 is further improved.
In this embodiment, the deformation wheel 100 further includes a leg driving assembly 80, where the leg driving assembly 80 includes a fourth driving member 81 and a mounting box 82, one end of the leg 60 away from the expansion bracket 31 is hinged to the mounting box 82, the fourth driving member 81 is mounted in the mounting box 82, and the fourth driving member 81 is used to drive the leg 60 to rotate relative to the mounting box 82. As shown in fig. 7 to 9, the lower end of the leg plate 61 is hinged to the telescopic plate 312, the upper end of the leg plate 61 is hinged to the outer side of the mounting box 82, the fourth driving member 81 is mounted in the mounting box 82, and the fourth driving member 81 may be a motor in the prior art, which is used to drive any one of the leg plates 61 to rotate relative to the mounting box 82. By mounting at least two deforming wheels 100 on the outer structure, the fourth driving member 81 drives the leg plates 61 to rotate, so that the leg plates 61 drive the deforming rings 20 to swing through the expansion plates 312, and the deforming rings 20 of the at least two deforming wheels 100 swing alternately, thereby realizing the leg movement of the deforming wheels 100.
The invention also provides a wheel-track-leg combined robot, which comprises a mounting frame 200 and a plurality of deformation wheels 100 of the robot, wherein the deformation wheels 100 are arranged in an array and are connected with the mounting frame 200. In one embodiment, as shown in fig. 9, a plurality of deformation wheels 100 arranged in an array are connected to the lower end of the mounting frame 200 through the mounting box 82;
when the leg type robot moves, the deformation rings 20 are deformed into a runway type structure and are obliquely arranged, namely the distance between the expansion plate 312 of the deformation ring 20 and the ground is gradually widened, the leg frame 60 connected with the deformation rings is driven to rotate relative to the mounting frame 200 by the fourth driving piece 81, so that the leg frame 60 drives the deformation rings 20 correspondingly arranged to swing, the deformation wheels 100 swing alternately, the leg type movement of the wheel-track-leg composite robot is realized, the wheel-track-leg composite robot can climb over obstacles, and the wheel-track-leg composite robot is suitable for moving in complex terrains;
when the crawler type robot moves, the deformation rings 20 are deformed into a runway type structure and horizontally abutted against the ground, the second driving piece 51 drives the driving wheel 40 to rotate, so that the crawler 10 rotates relative to the deformation rings 20, the crawler type movement of the crawler type robot is realized, and the crawler type robot can adapt to the movement of various terrains;
when the wheel type robot moves, the deformation rings 20 are deformed into a whole circular structure, and the deformation rings 20 and the crawler belt 10 are driven to synchronously rotate by the third driving piece 71, so that the wheel type movement of the wheel-crawler-leg combined robot is realized, and the wheel-crawler-leg combined robot can move at a high speed.
Moreover, each deformation wheel 100 can switch between a track type movement state and a wheel type movement state in the walking process, namely, the deformation ring 20 of each deformation wheel 100 drives the expansion bracket 31 to stretch and retract through the first driving piece 321 so as to realize the switching of the deformation ring 20 between a track type structure and a full circle structure, so that the wheel-track-leg composite robot has the advantages of strong adaptability and high universality.
In addition, referring to the above embodiment for the specific structure of the deformation wheel 100, since the wheel-track-leg combined robot adopts all the technical solutions of all the embodiments, at least the technical solutions of the embodiments have all the beneficial effects, and will not be described in detail herein.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (5)
1. A deformation wheel for a robot, the deformation wheel comprising:
a track;
the track is wound outside the deformation ring, the deformation ring comprises a plurality of arc plates which are sequentially hinged end to end, a first connecting position is formed at the hinged position of two adjacent arc plates, a second connecting position is formed at the hinged position of the other two adjacent arc plates, and the first connecting position and the second connecting position are oppositely arranged;
the deformation driving mechanism comprises a telescopic frame and a deformation driving assembly, wherein two ends of the telescopic frame are respectively connected with the first connecting position and the second connecting position, the deformation driving assembly is arranged in the telescopic frame and is used for driving the telescopic frame to stretch or shrink the distance between the first connecting position and the second connecting position, and correspondingly enabling the deformation to encircle into a runway structure or a full circle structure;
the deformation wheel further comprises a driving wheel and a track type driving assembly, the driving wheel is arranged at a position, close to the deformation ring, in the expansion bracket, the track is wound outside the driving wheel and matched with the driving wheel, and the track type driving assembly is used for driving the driving wheel to rotate so that the driving wheel drives the track to rotate relative to the deformation ring;
the crawler type driving assembly comprises a second driving piece, a synchronous belt and two synchronous wheels, wherein the second driving piece is connected with the telescopic frame, the synchronous belt is wound between the two synchronous wheels, one synchronous wheel is coaxially arranged with the driving wheel, and the second driving piece is used for driving the other synchronous wheel to rotate;
the deformation wheel further comprises a leg frame and a wheel type driving assembly, the leg frame is hinged with the telescopic frame, the wheel type driving assembly comprises a third driving piece and a rotating seat, the rotating seat is connected with the telescopic frame, the third driving piece is connected with one side, away from the telescopic frame, of the leg frame, and the third driving piece is used for driving the rotating seat to rotate;
the expansion bracket comprises a mounting plate and an expansion plate which is arranged on the mounting plate in an expansion manner, one end of the expansion plate, which is far away from the mounting plate, is connected with the first connecting position, one end of the mounting plate, which is far away from the expansion plate, is connected with the second connecting position, and the deformation driving assembly is used for driving the expansion plate to stretch or shrink relative to the mounting plate so as to stretch or shrink the distance between the first connecting position and the second connecting position, and correspondingly enabling the deformation ring to form a runway structure or a full circle structure;
the number of the mounting plates is two, the two mounting plates are arranged at intervals, and the expansion plates are consistent with the number of the mounting plates and are arranged in a one-to-one correspondence manner;
the leg frame comprises two leg plates which are arranged at intervals, the two leg plates are respectively arranged at two sides of the deformation ring, and the two leg plates are respectively hinged with the two expansion plates; the rotating seat comprises a rotating plate and a rotating sleeve connected to the rotating plate, the rotating plate is connected to one telescopic plate, the rotating plate is positioned between the two telescopic plates, the rotating sleeve penetrates through the telescopic plates and the leg plates which are correspondingly arranged, and the third driving piece is used for driving the rotating sleeve to rotate;
the deformation wheel further comprises a leg driving assembly, the leg driving assembly comprises a fourth driving piece and an installation box, one end, far away from the telescopic frame, of the leg frame is hinged to the installation box, the fourth driving piece is installed in the installation box, and the fourth driving piece is used for driving the leg frame to rotate relative to the installation box.
2. The deformation wheel of the robot according to claim 1, wherein the deformation driving assembly comprises a first driving member, a screw rod and a screw rod nut block sleeved outside the screw rod, the first driving member is connected with the mounting plate, the screw rod nut block is connected with the expansion plate, the screw rod is consistent with the extending direction of the expansion plate, and the first driving member drives the screw rod to rotate so as to drive the expansion plate to expand and contract relative to the mounting plate along the screw rod through the screw rod nut block.
3. The deformation wheel of the robot according to claim 2, wherein a sliding rail is arranged on one side of the mounting plate, which faces away from the first driving piece, and is consistent with the extending direction of the screw rod, and a sliding block is arranged on one side of the expansion plate, which faces away from the screw rod nut block, and is in sliding contact fit with the sliding rail.
4. A deformation wheel for a robot according to any one of claims 1 to 3, wherein the deformation ring comprises two annular plates arranged at intervals, the two annular plates are connected by a plurality of connecting rods, the plurality of connecting rods are arranged at intervals along the circumferential direction of the annular plates, and the crawler belt is wound around the peripheries of the plurality of connecting rods.
5. A wheel-track composite robot, characterized in that it comprises a mounting frame and a plurality of deformation wheels of the robot according to any one of claims 1-4, a plurality of said deformation wheel arrays being arranged and connected to the mounting frame.
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| CN202210207238.6A CN114454661B (en) | 2022-03-04 | 2022-03-04 | Deformation wheel and wheel-track-leg combined robot of robot |
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| CN202210207238.6A CN114454661B (en) | 2022-03-04 | 2022-03-04 | Deformation wheel and wheel-track-leg combined robot of robot |
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| CN114454661B true CN114454661B (en) | 2024-04-09 |
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